Terrain following of arbitrary surfaces using a high intensity LED proximity sensor
Many robotic operations, e.g., mapping, scanning, feature following, etc., require accurate surface following of arbitrary targets. This paper presents a versatile surface following and mapping system designed to promote hardware, software and application independence, modular development, and upward expandability. These goals are met by: a full, a priori specification of the hardware and software interfaces; a modular system architecture; and a hierarchical surface-data analysis method, permitting application specific tuning at each conceptual level of topological abstraction. This surface following system was fully designed and independently of any specific robotic host, then successfully integrated with and demonstrated on a completely a priori unknown, real-time robotic system. 7 refs.
- Research Organization:
- Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States)
- Sponsoring Organization:
- USDOE, Washington, DC (United States)
- DOE Contract Number:
- AC05-84OR21400
- OSTI ID:
- 10118816
- Report Number(s):
- ORNL/TM-11991; CESAR-92/01; ON: DE92007161
- Resource Relation:
- Other Information: PBD: Jan 1992
- Country of Publication:
- United States
- Language:
- English
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